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| A Lateral⁃Directional Moving-Mass Control Technology for Near Space Solar-Powered UAV |
| WANG Kefan， QIU Xiaoqi， GAO Changsheng， JING Wuxing |
| Department of Astronautics Engineering， Harbin Institute of Technology， Harbin 150001， Heilongjiang， China |
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Abstract Aiming at the lateral-directional control problem of solar-powered unmanned aerial vehicle (UAV) with normal configuration, a moving-mass control scheme with battery as a mass slider and slide rail arranged along the spanwise is proposed. Firstly, the motion model of moving-mass solar-powered UAV is established. Then based on the classical PID control theory, the rolling angle controller and the yaw angle controller are designed respectively with the slider offset as the input. The simulation results show that when the mass of the slider is certain, the moving speed and maximum stroke of the slider are the main factors affecting the control effect of the moving-mass control scheme, and the sliding stroke mainly affects the manipulability and overshoot of the control system, and when the slider speed is too slow, the delay of the control system will be obvious, and even the system will be diverged.
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Received: 12 October 2021
Published: 22 December 2021
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2021, Vol. 4 
